ASSESSMENT AND MITIGATION OF POWER QUALITY DISTURBANCES RAJ KUMAR

Transcription

1 ASSESSMENT AND MITIGATION OF POWER QUALITY DISTURBANCES RAJ KUMAR INSTRUMENT DESIGN DEVELOPMENT CENTRE INDIAN INSTITUTE OF TECHNOLOGY DELHI HAUZ KHAS NEW DELHI , INDIA OCTOBER 2016

2 Indian Institute of Technology Delhi (IITD), New Delhi, 2016

3 ASSESSMENT AND MITIGATION OF POWER QUALITY DISTURBANCES by RAJ KUMAR Instrument Design Development Centre Submitted in fulfillment of the requirements of the degree of Doctor of Philosophy to the INDIAN INSTITUTE OF TECHNOLOGY DELHI OCTOBER 2016

4 CERTIFICATE It is certified that the thesis entitled Assessment and Mitigation of Power Quality Disturbances, being submitted by Mr. Raj Kumar for award of the degree of Doctor of Philosophy in the Instrument Design Development Centre, Indian Institute of Technology Delhi, is a record of the student work carried out by him under our supervision and guidance. The matter embodied in this thesis has not been submitted for award of any other degree or diploma. (Dr. D. T. Shahani) Professor Instrument Design Development Centre Indian Institute of Technology Delhi Hauz Khas New Delhi , India (Dr. Bhim Singh) Professor Electrical Engineering Department Indian Institute of Technology Delhi Hauz Khas New Delhi , India Dated: Place: i

5 ACKNOWLEDGEMENTS I wish to express my sincere gratitude and indebtedness to Prof. Bhim Singh and Prof. D. T. Shahani for providing me an opportunity to carry out the Ph.D. work under their supervision. Their keenness and vision have played an important role in guiding me throughout this study. Determination, dedication, innovativeness, resourcefulness and discipline of Prof. Bhim Singh and Prof. D. T. Shahani have been the inspiration for me to complete this work. Working under them has been a wonderful experience, which has provided a deep insight to the world of research. Their consistent encouragement, continuous monitoring and commitments for excellence have always motivated me to improve my work and use best of my capabilities. My sincere thanks and deep gratitude to Prof. Arun Kumar, Prof. A. L. Vyas, Prof. A. K. Agarwal, Prof. G. Bhuvaneswari, Prof. S. Mishra and Dr. Gufran Sayeed Khan, all Centre Research Committee members for their valuable guidance and consistent support during the phases of my research work. Thanks are due to Mr. Masood Ali, Mr. Manohar Negi of MDIT Lab. and Sh. Srichand, Sh. Puran Singh of PG Machines Lab. IIT Delhi for providing me the facilities and assistance to carry out experimental work. I would like to offer my sincere thanks to Dr. Vashist Bist and Mr. Chinmay Jain who helped me a lot to complete my research work. I can not forget the period of my comfortable stay in hostel with Dr. Vashist, Mr. Anup Kumar Mandpura, Mr. Somesh Bhattacharya and Mr. Anshul Varshney during my visits to IIT Delhi and remain supportive and caring throughout my work. I am also very thankful to Dr. Sabharaj Arya, Dr. Arun Kumar Verma, Dr. Madishetti Sandeep, Dr. N. K. Swami Naidu, Dr. Ram Niwas, Dr. M. Rajesh, Dr. Ujjwal Kalla, Dr. Ashish Srivastava, Mr. Ikhlaq Hussian, Mr. Rajan Kumar, Mr. Aniket Anand, Mr. Shailendra Dwivedi, Mrs. Geeta Pathak, Mr. Anjanee Kumar Mishra, Mr. Utkarsh Sharma, Mr. Saurav ii

6 Shukla, Mr. Sachin Devassy and Mr. Maulik Kandpal for their valuable aid and co-operation and informal support in pursuing experimental work. I wish to convey my sincere thanks to Prof. V. K. Jain Director SLIET, Longowal for allowing me to pursue Ph.D from IIT Delhi. I also can not forget the support of my friends and colleagues Prof. Ajat Shatru Arora, Dr. Sanjeev Singh, Dr. Ashwani Aggarwal, Mr. Asim Ali Khan, Mr. Parveen Garg, Mr. Jaspal Singh Aujla and Mr. Rakesh Goyal of SLIET, Longowal for their inspiration, support and discussion of my research work. The completion of this work was not possible without the blessings of my father, Late Sh. Ragho Ram Garg who are not with us to share this joy. The prayers of my mother, Mrs. Shakuntla Devi helped me at every stage of my academic and personal life to see this achievement come true. I must appreciate my wife Mrs. Rimpi Garg for handling the family responsibilities during my stay at IIT Delhi and support to my daughter Bhavika and son Ruhan Garg to see the completion of this work. I am also grateful to those who have directly or indirectly helped me to complete my thesis work. Above all, I owe it all to Almighty God for granting me the wisdom, health and strength to undertake this research task and enabling me to its completion. Dated: Raj Kumar iii

7 ABSTRACT Power quality problems are arising due to the proliferation of the sensitive electronic loads in industrial and commercial power systems which are the sources of many power quality distortions and disturbances in the distribution system as well as mostly affected by these disturbances. Power quality disturbances generated by these loads propagate on the electrical network to affect the distribution system equipments and causing malfunction of some of the electronic equipments of others. Therefore, due to these power quality issues, the customers are focussing attention on the quality of power necessary for the successful operation of these loads. Ensuring good power quality requires good initial design, effective mitigation equipment, and cooperation with the supplier, frequent monitoring and good maintenance. A high level of power quality is understood as low level of disturbance and agreement on the acceptable levels of disturbance. The limits on power quality are set by certain international standards such as IEEE-1159, IEC and EN to maintain the power quality to an acceptable benchmark. When these limits are exceeded, it is not certain that the equipment is no longer to operate or work without any malfunction. Power quality disturbances like voltage sag, swell, interruption, flicker, notches and spikes commonly occur in a distribution system. Voltage sags are mostly caused by the switching on loads with heavy starting currents and utility fault clearing while the swells are mainly due to the sudden load reduction and a single phase fault on a three phase system. An interruption which is the complete loss of supply voltage is mainly due to any supply grid equipment failure or the operation of the utility protective devices. The flicker which is a symptom of voltage variation is usually caused by large fluctuating loads such as arc furnaces, rolling mill drives and main winders etc. The notching is due to the electronic devices such as variable speed drives, light dimmers and arc welders under normal conditions. The spikes are caused by the lightening, grounding and switching of the inductive iv

8 loads. Nonlinear loads are main cause for the origin of the harmonics in the power system. The power system parameters -frequency, voltage and current amplitude, waveform and symmetry can serve as the frames of reference to classify these power quality disturbances according to the impact on the quality of the available power. Disturbances like voltage sag, swell and interruptions are called as events while disturbances like harmonics and flicker are called as power quality variations as these continuously exist in the distribution system. Multistage and multiple power quality disturbances also occur due to the complexity of the power system. Therefore, the continuous monitoring of power quality is essential today for understanding the causes and the characteristics of various power quality distortions and disturbances so that electrical environment at that location is evaluated to diagnose the incompatibilities between the source and the load. Digital signal processing techniques are used in these instruments for the recognition and the assessment of these power quality disturbances. Power quality disturbances recognition helps the power engineers to solve the power quality issues between the utilities and the consumers and to find the optimum solution for the mitigation of these power quality disturbances. Therefore, the power quality improvements are needed in the form of mitigating devices for the longevity of the electronic equipments. Several measures can be taken at the various levels of the distribution system to make the end use devices less sensitive and to provide the clean and consistent power to the consumers to minimize the equipments failures and operational upsets. PQ monitoring basically involves the measurements of the voltage and current signals to quantify the performance of the supply, identification of the disturbances and to find the cause of the equipment malfunction. The process of PQ monitoring requires signal processing of the sensed signals for the analysis and the extraction of the relevant features. The main features are extracted from the transformed signals and are used for the classification of these v

9 disturbances so that these techniques can be effectively used for the development of the intelligent PQ monitoring equipments. The selection of the suitable features is extremely important as these features decide the computation time and the precision of the classification. The practical signal processing techniques have been the discrete Fourier transform and the root mean square but these are not suitable for the stationary measurement data. As most of the PQ disturbances are nonstationary in nature so the joint time-frequency domain analysis is needed with the signal processing techniques in order to track the time evolving characteristics of the disturbances. This research work is aimed towards the development and investigation of signal processing techniques for the assessment and mitigation of various power quality disturbances originating in a distribution system. The simulation to the real acquisition of power quality disturbances are presented in this work. The disturbances are generated in the laboratory by switching a number of linear and nonlinear loads. However, due to the non availability of the practical data and rating constraints, numerical models are used to generate the synthetic data of common power quality disturbances such as voltage sag, swell, interruption, flicker, harmonics, spikes and notches as per IEEE 1159 standard. These are analysed with a number of signal processing techniques like instantaneous symmetrical components, complex wavelet transform, Stockwell-transform, Hilbert Huang transform for the assessment. All the single stage power PQ disturbances are detected and classified using symmetrical components in time domain. The multiple PQ disturbances along with the single stage are detected and assessed with the complex wavelet transform. Stockwell-transform based artificial neural network classifier and rule-based decision tree are proposed for the recognition and the classification of single stage and a number of multiple disturbances. Hilbert Huang transform along with the probabilistic neural network is proposed for the recognition and the classification of the single stage and multiple disturbances. vi

10 These signal processing techniques are further investigated for the mitigation of PQ disturbances. Control algorithms based on these techniques for distribution static compensator (DSTATCOM) are proposed for the PQ improvements in a distribution system. A model of a DSTATCOM involving a three leg voltage source converter for a three phase distribution system is developed with the help of Simulink and SimPower toolboxes of MATLAB. The steady state and the dynamic performances are evaluated for both the linear and nonlinear loads under the balanced and unbalanced load conditions simultaneously. The simulated results are validated on a developed laboratory prototype of DSTATCOM. A comparison table of the different algorithms under a nonlinear load in the balanced and unbalanced conditions has been presented. The distortion in the grid current is least at a nonlinear load in the balanced condition with instantaneous symmetrical component technique. The S-transform based control algorithm is providing the least distortion in the grid current during the unbalanced load conditions in the system. PQ indices with these control algorithms are found to within the acceptable limits of international PQ IEEE-519 standard. vii

11 TABLE OF CONTENTS Certificate Acknowledgements Abstract Table of Contents List of Figures List of Tables List of Abbreviations List of Symbols Page No. i ii iv viii xviii xxvi xxvii xxix CHAPTER 1 INTRODUCTION General State of Art Importance of Power Quality Power Quality Disturbances in Distribution Systems Power Quality Monitoring Power Quality Assessment Power Quality Mitigation in Distribution Systems Scope of Work Investigations of Signal Processing Techniques for the Detection and Classification of Power Quality Disturbances Analysis, Design and Development of Mitigation Techniques for Power Quality Improvements in Distribution Systems 1.3 Outline of Chapters CHAPTER 2 LITERATURE REVIEW General Literature Survey Definitions of Power Quality Origin of Power Quality Disturbances and Their Consequences Power Quality Standards Power Quality Indices 23 viii

12 2.2.5 Literature Review of Signal Processing Techniques for Analysis of Power Quality Disturbances Literature Review on Techniques for Classification of Power Quality Disturbances Literature Review on Techniques for Mitigation of Power Quality Disturbances 2.3 Identified Research Areas Conclusions CHAPTER 3 MODELING AND REAL TIME GENERATION OF POWER QUALITY DISTURBANCES General Classification of Power Quality Disturbances Analysis and Mathematical Formulation of Power Quality Disturbances Single Stage Power Quality Disturbances Multiple Power Quality Disturbances Multistage Power Quality Disturbances MATLAB Based Modeling and Simulation of Power Quality Disturbances Real Time Generation of Power Quality Disturbances Development of Hardware Prototype for Generation of Power Quality Disturbances Development of the Voltage Sensor Board for Power Quality Signal Acquisition Development of the Current Sensor Board for Power Quality Signal Acquisition Power Quality Disturbances Acquisition using LabVIEW-Data Acquisitions Cards (DAQ) 3.6 Results and Discussion Simulated Results Experimental Results Conclusions CHAPTER 4 INSTANTANEOUS SYMMETRICAL COMPONENTS BASED POWER QUALITY ASSESSMENT General Theory of Instantaneous Symmetrical Components in Time Domain 52 ix

13 4.3 Modeling and Simulation of Power Quality Disturbances Detection Feature Extraction and Method for Power Quality Disturbances Classification Hardware Implementation of Power Quality Disturbances Detection Results and Discussion Simulation Results Detection of Voltage Sag Detection of Voltage Swell Detection of Voltage Flicker Detection of Voltage Harmonics Detection of Voltage Notches Detection of Voltage Oscillatory Transients Detection of Voltage Spike Detection of Voltage Interruption Experimental Results Detection of Real Time Voltage Sag Detection of Real Time Voltage Swell Detection of Real Time Voltage Notch Detection of Real Time Voltage Interruption Classification of Power Quality Disturbances Conclusions 70 CHAPTER 5 COMPLEX WAVELET BASED POWER QUALITY ASSESSMENT General Theory of Complex Wavelet-Multiresolution Signal Decomposition Modeling and Simulation of Power Quality Disturbances Detection Feature Extraction and Method for Power Quality Disturbances Classification Hardware Implementation of Power Quality Disturbances Detection Results and Discussion Simulation Results Detection of Voltage Sag Detection of Voltage Swell Detection of Voltage Flicker Detection of Voltage Harmonics Detection of Voltage Notches 80 x

14 Detection of Voltage Oscillatory Transients Detection of Voltage Spike Detection of Voltage Interruption Detection of Voltage Sag with Harmonics Detection of Voltage Swell with Harmonics Detection of Voltage Flicker with Harmonics Experimental Results Detection of Real Time Voltage Sag Detection of Real Time Voltage Swell Detection of Real Time Voltage Notch Detection of Real Time Voltage Oscillatory Transient Classification of Power Quality Disturbances Conclusions 91 CHAPTER 6 STOCKWELL TRANSFORM BASED POWER QUALITY ASSESSMENT General Theory of Stockwell-Transform Modeling and Simulation of Power Quality Disturbances Detection Feature Extraction and Method for Power Quality Disturbances Classification Rule Based Decision Tree Artificial Neural Network Hardware Implementation of Power Quality Disturbances Detection Results and Discussion Simulation Results Detection of Voltage Sag Detection of Voltage Swell Detection of Voltage Flicker Detection of Voltage Harmonics Detection of Voltage Notches Detection of Voltage Oscillatory Transients Detection of Voltage Spike Detection of Voltage Interruption Detection of Voltage Sag with Harmonics Detection of Voltage Swell with Harmonics 107 xi

15 Detection of Voltage Flicker with Harmonics Experimental Results Detection of Real Time Voltage Sag Detection of Real Time Voltage Swell Detection of Real Time Voltage Notch Detection of Real Time Voltage Oscillatory Transient Classification of Power Quality Disturbances using Rule-Based Decision Tree and Artificial Neural Network 6.7 Conclusions CHAPTER 7 HILBERT HUANG TRANSFORM BASED POWER QUALITY ASSESSMENT General Theory of Hilbert Huang Transform Empirical Mode Decomposition Hilbert Transform Modeling and Simulation of Power Quality Disturbances Detection Feature Extraction for Power Quality Disturbances Classification Hardware Implementation of Power Quality Disturbances Detection Results and Discussion Simulation Results Detection of Voltage Sag Detection of Voltage Swell Detection of Voltage Flicker Detection of Voltage Harmonics Detection of Voltage Notches Detection of Voltage Oscillatory Transients Detection of Voltage Spikes Detection of Voltage Interruption Detection of Voltage Flicker with Sag Detection of Voltage Flicker with Swell Detection of Voltage Sag with Harmonics Detection of Voltage Swell with Harmonics Detection of Voltage Harmonics with Sag Detection of Voltage Harmonics with Swell Detection of Voltage Transients with Harmonics 132 xii

16 Detection of Voltage Transients with Sag Detection of Voltage Transients with Swell Experimental Results Detection of Real Time Voltage Sag Detection of Real Time Voltage Swell Detection of Real Time Voltage Notch Detection of Real Time Voltage Oscillatory Transient Classification of Power Quality Disturbances using Probabilistic Neural Network 7.7 Conclusions CHAPTER 8 INSTANTANEOUS SYMMETRICAL COMPONENTS THEORY BASED CONTROL ALGORITHM OF DSTATCOM FOR POWER QUALITY IMPROVEMENT General System Configuration of Distribution Static Compensator (DSTATCOM) Control Algorithm Based on Instantaneous Symmetrical Components Theory Estimation of Average Active Power Estimation of Reference Currents Modeling and Simulation of Instantaneous Symmetrical Components Based 148 Control Algorithm of DSTATCOM 8.5 Hardware Implementation of Instantaneous Symmetrical Components Based 149 Control Algorithm of DSTATCOM 8.6 Results and Discussion Simulated Performance Intermediate Signals of Instantaneous Symmetrical 151 Components Based Control Algorithm System Performance under Balanced and Unbalanced Linear 152 Loads System Performance under Balanced and Unbalanced Nonlinear Loads Experimental Performance Intermediate Signals of Instantaneous Symmetrical 155 Components Based Control Algorithm Steady State Performance Steady State Performance under Linear Load 156 xiii

17 Steady State Performance under Nonlinear Load Dynamic Performance Dynamic Performance under Linear Unbalanced Load Dynamic Performance under Nonlinear Unbalanced Load 8.7 Conclusions CHAPTER 9 S-TRANSFORM BASED CONTROL ALGORITHM OF DSTATCOM FOR POWER QUALITY IMROVEMENT General System Configuration of Distribution Static Compensator (DSTATCOM) Control algorithm Based on S-Transform Estimation of the PCC Voltages Unit Templates Estimation of the Net Active Power Component Estimation of the References Supply Currents Generation of the Switching Pulses of VSC Modeling and Simulation of S-Transform Based Control Algorithm of DSTATCOM 9.5 Hardware Implementation of S-Transform Based Control Algorithm of DSTATCOM 9.6 Results and Discussion Simulated Performance Intermediate Signals of S-Transform Based Control Algorithm System Performance under Balanced and Unbalanced Linear Loads System Performance under Balanced and Unbalanced Nonlinear Loads Experimental Performance Intermediate Signals of S-Transform Based Control Algorithm Steady State Performance Steady State Performance under Linear Load Steady State Performance under Nonlinear Load 179 xiv

18 Dynamic Performance Dynamic Performance under Linear Unbalanced Load Dynamic Performance under Nonlinear Unbalanced Load 9.7 Conclusions CHAPTER 10 COMPLEX WAVEET TRANSFORM BASED CONTROL ALGORITHM OF DSTATCOM FOR POWER QUALITY IMROVEMENT General System Configuration of Distribution Static Compensator (DSTATCOM) Control Algorithm Based on Complex Wavelet Transform Estimation of the PCC Voltages Unit Templates Estimation of the Average Active Power Components of Load Currents Estimation of the Active Power Component of DC Link Voltage Control Estimation of the Net Active Power Component Estimation of References Currents Generation of Switching Pulses of VSC Modeling and Simulation of Complex Wavelet Transform Based Control Algorithm of DSTATCOM 10.5 Hardware Implementation of Complex Wavelet Transform Based Control Algorithm of DSTATCOM 10.6 Results and Discussion Simulated Performance Intermediate Signals of Complex Wavelet Transform Based Control Algorithm System Performance under Balanced and Unbalanced Linear Loads System Performance under Balanced and Unbalanced Nonlinear Loads Experimental Performance Intermediate Signals of Complex Wavelet Transform Based Control Algorithm xv

19 Steady State Performance Steady State Performance under Linear Load Steady State Performance under Nonlinear Load Dynamic Performance Dynamic Performance under Linear Unbalanced Load Dynamic Performance under Nonlinear Unbalanced Load 10.7 Conclusions CHAPTER 11 HILBERT HUANG TRANSFORM BASED CONTROL ALGORITHM OF DSTATCOM FOR POWER QUALITY IMROVEMENT General System Configuration of Distribution Static Compensator (DSTATCOM) Control Algorithm Based on Hilbert Huang Transform Estimation of in-phase and Quadrature Unit Templates of PCC Voltages Estimation of the Average Active Power Components of Load Currents Estimation of Net Active Power Component of the Grid Current Estimation of References Source Currents Estimation of Gating Pulses of VSC Modeling and Simulation of Hilbert Huang Transform Based Control Algorithm of DSTATCOM 11.5 Hardware Implementation of Hilbert Huang Transform Based Control Algorithm of DSTATCOM 11.6 Results and Discussion Simulated Performance Intermediate Signals of Hilbert Huang Transform Based Control Algorithm System Performance under Balanced and Unbalanced Linear Loads System Performance under Balanced and Unbalanced Nonlinear Loads Experimental Performance xvi

20 Intermediate Signals of Hilbert Huang Transform Based Control Algorithm Steady State Performance Steady State Performance under Linear Load Steady State Performance under Nonlinear Load Dynamic Performance Dynamic Performance under Linear Unbalanced Load Dynamic Performance under Nonlinear Unbalanced Load 11.7 Conclusions CHAPTER 12 MAIN CONCLUSIONS AND SUGGESTIONS FOR FURTHER WORK General Main Conclusions Suggestions for Further Work 237 REFERENCES APPENDICES LIST OF PUBLICATIONS 252 BIO-DATA 253 xvii

21 LIST OF FIGURES Fig. 1.1 Fig. 2.1 Fig. 3.1 Fig. 3.2 Fig. 3.3 Fig. 3.4 Fig. 3.5 Fig. 3.6 Fig. 3.7 Fig. 3.8 Fig. 3.9 Fig Fig Fig. 4.1 Fig. 4.2 Fig. 4.3 Fig. 4.4 Fig. 4.5 Fig. 4.6 Fig. 4.7 Fig. 4.8 Fig. 4.9 Fig Fig.4.11 General scheme of PQ monitoring CBEMA curve Prototype of the developed hardware for real-time PQ disturbances generation and Acquisition Actual system for the acquisition of the PQ disturbances Interfacing circuit of voltage sensing and signal conditioning circuit PCB developed in laboratory for voltage sensing and signal conditioning circuit Schematic diagram of current sensing circuitry PCB developed in laboratory for current sensing and signal conditioning circuit Simulated disturbances as (a) sag (b) swell (c) harmonic (d) flicker (e) notch (f) oscillatory transient (g) spike (h) interruption (i) osc. transient with sag (j) sag with harmonic (a) Digital storage Oscilloscope image of transient signal and (b) Real time transient signal generated by capacitor switching (a) Digital storage Oscilloscope image of voltage notch signal and (b) Real time voltage notch signal generated by a three phase rectifier (a) Digital storage Oscilloscope image of voltage sag signal and (b) Real time voltage sag signal generated by switching a high rating load (a) Digital storage Oscilloscope image of voltage swell signal and (b) Real time voltage swell signal generated by removing a high rating load Block diagram of a PLL Schematic of the PQ disturbance detection Block scheme for the classification of single stage PQ disturbances A prototype of developed hardware for real-time PQ disturbance generation and detection (a) Voltage sag (b) Negative sequence component of disturbance phase, Instantaneous Peak value contour calculated from the (c) positive and (d) negative sequence components (a) Voltage Swell (b) Negative sequence component of disturbance phase, Instantaneous Peak value contour calculated from the (c) positive and (d) negative sequence components (a) Voltage flicker (b) Negative sequence component of disturbance phase, Instantaneous Peak value contour calculated from the (c) positive and (d) negative sequence components (a) Voltage harmonics (b) Negative sequence component of disturbance phase, Instantaneous Peak value contour calculated from the (c) positive and (d) negative sequence components (a) Voltage notch (b) Negative sequence component of disturbance phase, Instantaneous Peak value contour calculated from the (c) positive and (d) negative sequence components (a) Voltage oscillatory transient (b) Negative sequence component of disturbance phase, Instantaneous Peak value contour calculated from the (c) positive and (d) negative sequence components (a) Voltage spike (b) Negative sequence component of disturbance phase, xviii

22 Fig.4.12 Fig Fig Fig Fig Fig. 5.1 Fig. 5.2 Fig. 5.3 Fig. 5.4 Fig. 5.5 Fig. 5.6 Fig. 5.7 Fig. 5.8 Fig. 5.9 Fig Fig Fig Fig Fig Fig Fig Fig Fig. 6.1 Fig. 6.2 Fig. 6.3 Fig. 6.4 Fig. 6.5 Instantaneous Peak value contour calculated from the (c) positive and (d) negative sequence components (a) Voltage interruption (b) Negative sequence component of disturbance phase, Instantaneous Peak value contour calculated from the (c) positive and (d) negative sequence components (a) Real time voltage sag (b) Negative sequence component of disturbance phase, Instantaneous Peak value contour calculated from the (c) positive and (d) negative sequence components (a) Real time voltage swell (b) Negative sequence component of disturbance phase, Instantaneous Peak value contour calculated from the (c) positive and (d) negative sequence components (a) Real time voltage notch (b) Negative sequence component of disturbance phase, Instantaneous Peak value contour calculated from the (c) positive and (d) negative sequence components (a) Real time voltage interruption (b) Negative sequence component of disturbance phase, Instantaneous Peak value contour calculated from the (c) positive and (d) negative sequence components Analysis filter bank for DT-DWT based CWT Block scheme for the classification of single stage PQ disturbances CWT decomposition of the voltage sag signal CWT decomposition of the voltage swell signal CWT decomposition of the voltage flicker signal CWT decomposition of the voltage harmonics signal CWT decomposition of the voltage notch signal CWT decomposition of voltage oscillatory transient signal CWT decomposition of the voltage spike signal CWT decomposition of the voltage interruption signal CWT decomposition of the voltage sag with harmonics signal CWT decomposition of the voltage swell with harmonics signal CWT decomposition of the voltage flicker with harmonics signal (a) A real time voltage sag disturbance (b) CWT decomposition of the real time sag signal (a) A real time voltage swell disturbance (b) CWT decomposition of the real time swell signal (a) A real time voltage notch disturbance (b) CWT decomposition of the real time notch signal (a) A real time voltage osc. transient disturbance (b) CWT decomposition of the real time transient signal Block scheme for the classifications of single and multistage PQ disturbances (a) Detection of voltage sag (b) Maximum amplitude versus time contour (c) Amplitude versus frequency (normalized) contour (a) Detection of voltage swell (b) Maximum amplitude versus time contour (c) Amplitude versus frequency (normalized) contour (a) Detection of voltage flicker (b) Maximum amplitude versus time contour (c) Amplitude versus frequency (normalized) contour (a) Detection of voltage harmonics (b) Maximum amplitude versus time contour xix

23 Fig. 6.6 Fig. 6.7 Fig. 6.8 Fig. 6.9 Fig Fig Fig Fig Fig Fig Fig Fig. 7.1 Fig. 7.2 Fig. 7.3 Fig. 7.4 Fig. 7.5 Fig. 7.6 Fig. 7.7 Fig. 7.8 Fig. 7.9 Fig (c) Amplitude versus frequency (normalized) contour (a) Detection of voltage notches (b) Maximum amplitude versus time contour (c) Amplitude versus frequency (normalized) contour (a) Detection of voltage oscillatory transient (b) Maximum amplitude versus time contour (c) Amplitude versus frequency (normalized) contour (a) Detection of voltage spikes (b) Maximum amplitude versus time contour (c) Amplitude versus frequency (normalized) contour (a) Detection of voltage interruption (b) Maximum amplitude versus time contour (c) Amplitude versus frequency (normalized) contour (a) Detection of voltage sag with harmonics (b) Maximum amplitude versus time contour (c) Amplitude versus frequency (normalized) contour (a) Detection of voltage swell with harmonics (b) Maximum amplitude versus time contour (c) Amplitude versus frequency (normalized) contour (a) Detection of voltage flicker with harmonics (b) Maximum amplitude versus time contour (c) Amplitude versus frequency (normalized) contour (a) Generation of real-time voltage sag signal and its (b) S-transform analysis (a) Generation of real-time voltage swell signal and its (b) S-transform analysis (a) Generation of real-time voltage notch signal and its (b) S-transform analysis (a) Generation of real-time voltage transient signal and its (b) S-transform analysis Probabilistic neural network Voltage sag and its corresponding first three intrinsic mode functions (A1-A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage swell and its corresponding first three intrinsic mode functions (A1- A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage flicker and its corresponding first three intrinsic mode functions (A1- A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage harmonics and its corresponding first three intrinsic mode functions (A1-A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage notches and its corresponding first three intrinsic mode functions (A1- A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage oscillatory transient and its corresponding first three intrinsic mode functions (A1-A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage spikes and its corresponding first three intrinsic mode functions (A1- A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage interruption and its corresponding first three intrinsic mode functions (A1-A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage flicker with sag and its corresponding first three intrinsic mode functions (A1-A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) xx

24 Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig. 8.1 Fig. 8.2 Fig. 8.3 Fig. 8.4 Fig. 8.5 Fig. 8.6 Fig. 8.7 Fig. 8.8 Voltage flicker with swell and its corresponding first three intrinsic mode functions (A1-A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage sag with harmonic and its corresponding first three intrinsic mode functions (A1-A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage swell with harmonic and its corresponding first three intrinsic mode functions (A1-A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage harmonic with sag and its corresponding first three intrinsic mode functions (A1-A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage harmonic with swell and its corresponding first three intrinsic mode functions (A1-A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage transient with harmonics and its corresponding first three intrinsic mode functions (A1- A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage transient with sag and its corresponding first three intrinsic mode functions (A1- A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Voltage transient with swell and its corresponding first three intrinsic mode functions (A1- A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) (a) Generation of real-time voltage sag signal and its (b) first three intrinsic mode functions (A1- A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) (a) Generation of real-time voltage swell signal and its (b) first three intrinsic mode functions (A1- A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) (a) Generation of real-time voltage notch signal and its (b) first three intrinsic mode functions (A1- A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) (a) Generation of real-time voltage oscillatory transient signal and its (b) ) first three intrinsic mode functions (A1- A3), its instantaneous amplitude (B1-B3), instantaneous phase (C1-C3) and its instantaneous frequency (D1-D3) Schematic of a DSTATCOM Instantaneous symmetrical component theory based control algorithm of VSC MATLAB model of DSTATCOM using Instantaneous symmetrical component theory based control algorithm Instantaneous symmetrical component theory based control algorithm (a) estimation of the PCC voltage unit templates (b) reference current estimation Prototype of the developed hardware of DSTATCOM Intermediate signals of the Instantaneous Symmetrical Components Based Control Algorithm for a nonlinear load with unbalancing in c phase System behaviour under balanced linear load with unbalancing from time t=0.4 s to 0.5 s System behaviour under balanced nonlinear load with unbalancing from time t=0.4 s to 0.5 s xxi

25 Fig. 8.9 Fig Fig Fig Fig Fig Fig Fig Fig Harmonic spectra of the proposed system at balanced load condition (a) vsab (b) isa (c) ila Harmonic spectra of the proposed system at unbalanced load condition (a) vsab (b) isa (c) ila Salient internal signals of the control algorithm during the nonlinear load disconnection (a) ilc, ps, pst and ploss (b) D, Pst /D, icref and isc Salient internal signals of the control algorithm during the nonlinear load injection (a) ilc, ps, pst and ploss (b) D, Pst /D, icref and isc DSTATCOM performance under linear balanced load (a) Grid power (b) Load power (c) Compensating power DSTATCOM performance under linear unbalanced load (a)-(c) grid currents isa, isb, isc with grid voltage vsab (d)-(f) load currents ila, ilb, ilc with grid voltage vsab (g)-(i) compensating currents isa, isb, isc with grid voltage vsab DSTATCOM performance under nonlinear balanced load (a)-(c) grid currents isa, isb, isc with grid voltage vsab (d)-(f) THD s of isa, isb, isc (g)-(i) load currents ila, ilb, ilc with grid voltage vsab (j)-(l) THD s of ila, ilb, ilc (m)-(o) compensating currents isa, isb, isc along with voltage vsab (p)-(r) grid power, load power and compensating power DSTATCOM performance under nonlinear unbalanced load (a)-(c) grid currents isa, isb, isc along with grid voltage vsab (d)-(f) load currents ila, ilb, ilc with grid voltage vsab (g)-(i) compensating currents isa, isb, isc with grid voltage vsab DSTATCOM performance during the linear load disconnection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc Fig DSTATCOM performance during the linear load injection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc Fig DSTATCOM performance during the nonlinear load disconnection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and Fig Fig. 9.1 Fig. 9.2 Fig. 9.3 Fig. 9.4 Fig. 9.5 Fig. 9.6 Fig. 9.7 Fig. 9.8 Fig. 9.9 Fig Fig icc DSTATCOM performance during the nonlinear load injection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc Schematic of a DSTATCOM Block diagram of S-transform based control algorithm for a DSTATCOM MATLAB model of DSTATCOM using S-transform based control algorithm S-transform theory based control algorithm of DSTATCOM (a) extraction of fundamental component of load current (b) extraction of the active component of load current (c) extraction of average active component of load current (d) unit templates estimation (e) generation of gate signals Harmonic components of the c phase load current Intermediate signals of the S-transform based control algorithm for a nonlinear load with unbalancing in c phase System behaviour under balanced linear load with unbalancing from time t=0.4 s to 0.5 s System behaviour under balanced nonlinear load with unbalancing from time t=0.4 s to 0.5 s Harmonic spectra of the proposed system at balanced load condition (a) vsab (b) isa (c) ila Harmonic spectra of the proposed system at unbalanced load condition (a) vsab (b) isa (c) ila Salient internal signals of the control algorithm (a) ilc, iflc, iaflc and abs(iaflc) xxii

26 Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig (b) ilc, IApLg, InApLg and Ipdc (c) ilc, ucp, icref and isc DSTATCOM performance under linear balanced load (a) Grid power (b) Load power (c) Compensating power DSTATCOM performance under linear unbalanced load (a)-(c) grid currents isa, isb, isc with grid voltage vsab (d)-(f) load currents ila, ilb, ilc with grid voltage vsab (g)-(i) compensating currents isa, isb, isc with grid voltage vsab DSTATCOM performance under nonlinear balanced load (a)-(c) grid currents isa, isb, isc with grid voltage vsab (d)-(f) THD s of isa, isb, isc (g)-(i) load currents ila, ilb, ilc with grid voltage vsab (j)-(l) THD s of ila, ilb, ilc (m)-(o) compensating currents isa, isb, isc along with voltage vsab (p)-(r) grid power, load power and compensating power DSTATCOM performance under nonlinear unbalanced load (a)-(c) grid currents isa, isb, isc along with grid voltage vsab (d)-(f) load currents ila, ilb, ilc with grid voltage vsab (g)-(i) compensating currents isa, isb, isc with grid voltage vsab DSTATCOM performance during the linear load disconnection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc DSTATCOM performance during the linear load injection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc DSTATCOM performance during the nonlinear load disconnection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc DSTATCOM performance during the nonlinear load injection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc Schematic of a DSTATCOM Block diagram of DT-CWT based control algorithm for a DSTATCOM DT-CWT decomposition of load current signal MATLAB model of DSTATCOM using DT-DWT based control algorithm DT-DWT based control algorithm of DSTATCOM (a) extraction of PCC voltage unit templates (b) estimation of the fundamental component of c phase load current (b) estimation of the active component of load current (d) extraction of average active component of load current (e) reference current estimation (f) generation of gate signals Coefficients of imaginary tree of the c phase load current Fig Harmonic estimation of the CWT levels of c phase load current (a ) ILc (a ) ILc2 (a ) ILc4 Fig Intermediate signals of the CWT based control algorithm for a nonlinear load with unbalancing in c phase Fig System behaviour under balanced linear load with unbalancing from time t=0.4 s to 0.5 s Fig System behaviour under balanced nonlinear load with unbalancing from time t = 0.4 s to 0.5 s Fig Harmonic spectra of the proposed system at balanced load condition (a) vsab (b) Fig Fig Fig isa (c) ila Harmonic spectra of the proposed system at unbalanced load condition (a) vsab (b) isa (c) ila Salient internal signals of the control algorithm (a) ilc, iqflc, ucp and abs(iaflc) (b) ilc, IApLg, abs(ipdc) and InApLg (c) ilc, InApLg, icref and isc DSTATCOM performance under linear load (a) Grid power (b) Load power (c) xxiii

27 Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Compensating power DSTATCOM performance under unbalanced linear load (a)-(c) isa, isb, isc with vsab (d)-(f) ila, ilb, ilc with vsab (g)-(i) ica, icb, icc along with vsab DSTATCOM performance under nonlinear balanced load (a)-(c) isa, isb, isc with vsab (d)-(f) THD s of isa, isb, isc (g)-(i) ila, ilb, ilc with vsab (j)-(l) THD s of ila, ilb, ilc (m)-(o) ica, icb, icc with vsab (p)-(r) grid power, load power and compensating power DSTATCOM performance under nonlinear unbalanced load (a)-(c) isa, isb, isc with vsab (d)-(f) ila, ilb, ilc with vsab (g)-(i) ica, icb, icc with vsab DSTATCOM performance during the linear load disconnection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc DSTATCOM performance during the linear load injection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc DSTATCOM performance during the nonlinear load disconnection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc DSTATCOM performance during the nonlinear load injection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc Schematic of a DSTATCOM Block diagram of HHT based control algorithm for a DSTATCOM MATLAB model of DSTATCOM using HHT based control algorithm HHT based control algorithm of DSTATCOM (a) unit templates estimation (b) extraction of fundamental component of load current (c) extraction of the active component of load current (d) extraction of average active component of load current (e) reference current estimation (f) generation of gate signals EMD decomposition of the phase c load current Salient internal signals of the control algorithm for a nonlinear load with unbalancing in c phase System behaviour under balanced linear load with load unbalancing from time t=0.2 s to 0.3 s System behaviour under balanced nonlinear load with unbalancing from time t=0.2 s to 0.3 s Harmonic spectra of the proposed system at balanced load condition (a) vsab (b) isa (c) ila Harmonic spectra of the proposed system at unbalanced load condition (a) vsab (b) isa (c) ila Salient internal signals of the control algorithm during the nonlinear load disconnection (a) ilc, iflc, iaflc and IApLg (b), abs(ipdc), InApLg, icref and icc Salient internal signals of the control algorithm during the nonlinear load injection (a) ilc, iflc, iaflc and IApLg (b), abs(ipdc), InApLg, icref and isc DSTATCOM performance under linear balanced load (a) Grid power (b) Load power (c) Compensating power DSTATCOM performance under linear unbalanced load (a)-(c) grid currents isa, isb, isc with vsab (d)-(f) load current ila, ilb, ilc with vsab (g)-(i) compensating currents isa, isb, isc along with vsab DSTATCOM performance under nonlinear balanced load (a)-(c) grid currents isa, isb, isc along with grid voltage vsab (d)-(f) THD s of isa, isb, isc (g)-(i) load currents ila, ilb, ilc with vsab (j)-(l) THD s of ila, ilb, ilc (m)-(o) compensating currents isa, isb, isc along with vsab (p)-(r) grid power, load power and xxiv

28 Fig Fig Fig Fig Fig compensating power DSTATCOM performance under nonlinear unbalanced load (a)-(c) grid currents isa, isb, isc with vsab (d)-(f) load currents ila, ilb, ilc with vsab (g)-(i) compensating currents ica, icb, icc with vsab DSTATCOM performance during the linear load disconnection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc DSTATCOM performance during the linear load injection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc DSTATCOM performance during the nonlinear load disconnection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc DSTATCOM performance during the nonlinear load injection in phase c (a) vsab, isa, isb and isc (b) vsab, ila, ilb and ilc (c) vsab, ica, icb and icc (d) Vdc, isc, ilc and icc xxv

29 LIST OF TABLES Table 3.1 Table 3.2 Table 3.3 Table 3.4 Table 5.1 Table 5.2 Table 6.1 Table 7.1 Table 12.1 Table 12.2 Table 12.3 Table 12.4 Table 12.5 Categories and typical characteristics of power system electromagnetic phenomena [IEEE std. 1159] Numerical modeling of single stage PQ disturbances Numerical modeling of multiple PQ disturbances Numerical modeling of multistage PQ disturbances Filter coefficients of various levels of CWT Frequency components of the various decomposition levels Confusion matrix for the disturbances of G21 group Confusion matrix for the PQ disturbances Comparison of S-transform performance with different classifiers Performance comparison of different techniques A comparison of computation burden A comparison of different algorithms with a nonlinear load in the balanced condition A comparison of different algorithms with a nonlinear load in the unbalanced condition xxvi